Carpet recognition method applicable to robot cleaner

Abstract

A carpet recognition method for a robot cleaner and a robot cleaner are provided. The carpet recognition method is applied to a cleaning robot, the cleaning robot includes a sleeve and an ultrasonic sensor, and the recognition method includes: controlling the ultrasonic sensor to transmit an ultrasonic signal to a current ground and to receive an echo signal reflected by the current ground; recognizing the current ground as a carpet surface based on that an intensity of the echo signal is less than an intensity of a standard echo signal, wherein the echo signal is capable of exhibiting diffuse reflection within the sleeve.

1 . A carpet recognition method, applied to a cleaning robot, the cleaning robot comprising a sleeve and an ultrasonic sensor, and the recognition method comprising:
 controlling the ultrasonic sensor to transmit an ultrasonic signal to a current ground and to receive an echo signal reflected by the current ground; and   recognizing the current ground as a carpet surface based on that an intensity of the echo signal is less than an intensity of a standard echo signal,   wherein the echo signal is capable of exhibiting diffuse reflection within the sleeve.   
     
     
         2 . The method according to  claim 1 , wherein the standard echo signal comprises an echo signal formed by reflection from a normal ground and diffuse reflection within the sleeve. 
     
     
         3 . The method according to  claim 1 , wherein the intensity of the echo signal being less than the intensity of the standard echo signal comprises:
 an amount of peaks in the echo signal being less than an amount of peaks in the standard echo signal.   
     
     
         4 . The method according to  claim 1 , wherein a setting manner of the standard echo signal comprises:
 obtaining a standard echo waveform of the normal ground based on a factory standard setting of the cleaning robot.   
     
     
         5 . The method according to  claim 1 , wherein a setting manner of the standard echo signal further comprises:
 adjusting the standard echo waveform through intelligently learning based on an actual sweeping condition of the cleaning robot on a designated normal ground.   
     
     
         6 . The method according to  claim 5 , wherein adjusting the standard echo waveform through intelligently learning based on the actual sweeping condition of the cleaning robot on the designated normal ground comprises:
 creating in advance a room map comprising at least one area;   controlling the ultrasonic sensor to transmit an ultrasonic signal to the designated normal ground and to receive a reflected designated echo; and   generating a standard echo waveform for each of the at least one area through intelligently learning the designated echo and adjusting the standard echo waveform, and automatically saving the standard echo waveform at a corresponding position on the room map.   
     
     
         7 . The method according to  claim 1 , wherein a setting manner of the standard echo signal comprises:
 providing a user with a learning mode, and guiding the user to collect echo data of a normal ground and echo data of the carpet surface; and   obtaining the standard echo signal of the normal ground based on the echo data of the normal ground and the echo data of the carpet surface.   
     
     
         8 . The method according to  claim 1 , wherein performing waveform compensation on the received echo signal in a case that the ultrasonic signal reflected by the current ground is scattered at an edge of a bottom of the sleeve. 
     
     
         9 . A cleaning robot, comprising:
 a machine body of the cleaning robot;   a sleeve, fixed at a front bottom of the machine body of the cleaning robot;   an ultrasonic sensor, fixed in the sleeve; and   a controller, configured to:
 control the ultrasonic sensor to transmit an ultrasonic signal to a current ground and to receive an echo signal reflected by the current ground; 
 recognize the current ground as a carpet surface based on that an intensity of the echo signal is less than an intensity of a standard echo signal, 
 wherein the echo signal is capable of exhibiting diffuse reflection within the sleeve. 
   
     
     
         10 . The cleaning robot according to  claim 9 , wherein the standard echo signal comprises an echo signal formed by reflection from a normal ground and diffuse reflection within the sleeve. 
     
     
         11 . The cleaning robot according to  claim 9 , wherein the intensity of the echo signal being less than the intensity of the standard echo signal comprises:
 an amount of peaks in the echo signal being less than an amount of peaks in the standard echo signal.   
     
     
         12 . The cleaning robot according to  claim 9 , wherein a setting manner of the standard echo signal comprises:
 obtaining a standard echo waveform of the normal ground based on a factory standard setting of the cleaning robot.   
     
     
         13 . The cleaning robot according to  claim 9 , wherein a setting manner of the standard echo signal further comprises:
 adjusting the standard echo waveform through intelligently learning based on an actual sweeping condition of the cleaning robot on a designated normal ground.   
     
     
         14 . The cleaning robot according to  claim 9 , wherein an end edge of a bottom of the sleeve is a plane or an inclined plane. 
     
     
         15 . The cleaning robot according to  claim 9 , wherein the sleeve has a hollow cylindrical structure, a center axis of the hollow cylinder structure is perpendicular to a ground. 
     
     
         16 . The cleaning robot according to  claim 9 , wherein the sleeve is directly provided in the machine body of the cleaning robot. 
     
     
         17 . The cleaning robot according to  claim 9 , wherein the sleeve is a cylinder. 
     
     
         18 . The cleaning robot according to  claim 12 , wherein the sleeve used to achieve multiple echoes of the normal ground. 
     
     
         19 . The cleaning robot according to  claim 9 , wherein a top of the ultrasonic sensor is provided with a metal plugs or golden finger. 
     
     
         20 . The cleaning robot according to  claim 9 , wherein the controller comprises a microcontroller unit (MCU) or an arithmetic processor (AP).